PokeCube#

dense-reward sparse-reward

🔗 Official Task Page

Task Description: A simple task where the objective is to poke a red cube with a peg and push it to a target goal position.

Randomizations:

  • the peg’s xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat along it’s length on the table

  • the cube’s x-coordinate is fixed to peg’s x-coordinate + peg half-length (0.12) + 0.1 and y-coordinate is randomized in range [-0.1, 0.1]. It is placed flat on the table

  • the cube’s z-axis rotation is randomized in range [- pi/6, pi/6]

  • the target goal region is marked by a red/white circular target. The position of the target is fixed to be the cube xy position + [0.05 + goal_radius, 0]

Success Conditions:

  • the cube’s xy position is within goal_radius (default 0.05) of the target’s xy position by euclidean distance

  • the robot is static